Abstract: Disclosed herein are systems and methods for path planning for UAVs. A set of UAVs is logically arranged into a plurality of swarms, each having a swarm-leader UAV. A first path planning algorithm is applied to determine navigation instructions to steer the swarm-leader UAVs towards respective destinations for the swarms and to deconflict the swarm-leader UAVs from one another. A set of second path planning algorithms is applied to determine navigation instructions to steer non-swarm-leader UAVs in each swarm toward their respective swarm leaders and to deconflict the UAVs from other UAVs in the swarm. Separate QUBO path planning algorithms may be used for the first path planning algorithm and the set of second path planning algorithms. If merging criteria for combining two swarms are met, a single QUBO may be used to control all non-swarm-leader UAVs in merged swarms.

Abstract: Disclosed herein are systems and methods for path planning for UAVs. A set of UAVs is logically arranged into a plurality of swarms, each having a swarm-leader UAV. A first path planning algorithm is applied to determine navigation instructions to steer the swarm-leader UAVs towards respective destinations for the swarms and to deconflict the swarm-leader UAVs from one another. A set of second path planning algorithms is applied to determine navigation instructions to steer non-swarm-leader UAVs in each swarm toward their respective swarm leaders and to deconflict the UAVs from other UAVs in the swarm. Separate QUBO path planning algorithms may be used for the first path planning algorithm and the set of second path planning algorithms. If merging criteria for combining two swarms are met, a single QUBO may be used to control all non-swarm-leader UAVs in merged swarms.

Abstract: An improved doorstop comprising a block member. A structure is for securing in a removable manner the block member against a leaf of a hinge on a doorjamb, so as to stop a door from closing completely into the doorjamb and preventing fingers of a hand of a person getting caught and damaged between an edge of the door and the doorjamb.